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Run SVO with ROS
Download this example dataset: rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag
Open a new console and start SVO with the prepared launchfile:
roslaunch svo_ros test_rig3.launch
Start RVIZ (Robot Visualizer) in a new console
rosrun rviz rviz -d <PATH TO rpg_svo>/svo_ros/rviz_config.rviz
Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type:
rosbag play airground_rig_s3_2013-03-18_21-38-48.bag
Now you should see the video with tracked features (green) and in RViz how the camera moves. If you want to see the number of tracked features, fps and tracking quality, run the GUI.
Assuming that you have a ros node that publishes images on the topic camera/image
.
- Calibrate your camera (see Camera Calibration) and save a new calibration file in
svo_ros/params/my_camera.yaml
. - Adapt the launchfile in
svo_ros/launch/live.launch
: Change the topic and the link to the new calibration file. - Start SVO using
roslaunch svo_ros live.launch
Type rosrun rqt_svo rqt_svo
to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons. If you do not see any reaction from GUI, you can type svo
in namespace
column(which is default name of this package).
If the widget is not found, try this:
rm ~/.config/ros.org/rqt_gui.ini
rosrun rqt_svo rqt_svo
Make sure to active the console window when pressing the keys.
-
s
Start/Restart -
q
Quit -
r
Reset